Task-embedded control networks for few-shot imitation learning

Much like humans, robots should have the ability to leverage knowledge from previously learned tasks in order to learn new tasks quickly in new and unfamiliar environments. Despite this, most robot learning approaches have focused on learning a single task, from scratch, with a limited notion of generalisation, and no way of leveraging the knowledge to learn other tasks more efficiently. One possible solution is meta-learning, but many of the related approaches are limited in their ability to scale to a large number of tasks and to learn further tasks without forgetting previously learned ones. With this in mind, we introduce Task-Embedded Control Networks, which employ ideas from metric learning in order to create a task embedding that can be used by a robot to learn new tasks from one or more demonstrations. In the area of visually-guided manipulation, we present simulation results in which we surpass the performance of a state-of-the-art method when using only visual information from each demonstration. Additionally, we demonstrate that our approach can also be used in conjunction with domain randomisation to train our few-shot learning ability in simulation and then deploy in the real world without any additional training. Once deployed, the robot can learn new tasks from a single real-world demonstration

Quasi-dynamic pressure and temperature

The phase transformation of {beta}-HMX (< 0.5% RDX) to the {delta} phase has been studied for over twenty years and more recently with an optically sensitive second harmonic generation technique. Shock studies of the plastic binder composites of HMX have indicated that the transition is perhaps irreversible, a result that concurs with the static pressure results published by F. Goetz et al. [l] in 1978. However the stability field favors the {beta} polymorph over {delta} as pressure is increased (up to 5.4 GPa) along any sensible isotherm. In this experiment strict control of pressure and temperature is maintained while x-ray and optical diagnostics are applied to monitor the conformational dynamics of HMX. Unlike the temperature induced {beta} -> {delta} transition, the pressure induced is heterogeneous in nature. The room pressure and temperature {delta} -> {beta} transition is not immediate although it seems to occur over tens of hours. Transition points and kinetics are path dependent and so this paper describes our work in progress

The role of information systems in configuring organisational power

SIGLEAvailable from British Library Document Supply Centre-DSC:DXN032294 / BLDSC - British Library Document Supply CentreGBUnited Kingdo

Troubles cognitifs dans la sclérose en plaques : quand y penser ? [Cognitive impairment in multiple sclerosis: when to think about it?]

Cognitive disorders are present in 30 to 45% of relapsing-remitting forms of multiple sclerosis and in up to 50-75% of progressive forms. They bear a negative impact on the quality of life and predict an unfavorable disease progression. According to guidelines, screening based on objective measurement such as the Single Digit Modality Test (SDMT) should be performed at the time of diagnosis and then on an annual basis. Confirmation of diagnosis and management are performed in collaboration with neuropsychologists. Increased awareness from patients and healthcare professionals is important to ensure earlier management and prevent negative consequences on the patients professional and family life

Comparative analysis of postural control and vertical jump performance between three different measurement devices

$\bf Objectives$ The aim of this study was to examine the concurrent validity of the HUMAC Balance System (HBS) and Balance Trainer BTG4 (BTG) in comparison to a laboratory-grade force platform (FP) for postural control (PC) and vertical jump performance (VJP) assessment. In addition, reliability of the three devices was measured for PC. $\bf Methods$ Overall 22 participants (age = 37.8 $\pm$ 13.3 years; gender = 9 male, 13 female; height = 174.1 $\pm$ 10.5 cm; body mass = 75.3 $\pm$ 17.6 kg) were recruited to participate. Double and single leg standing balance tests with eyes open or closed and counter movement jumps (CMJ) were performed on two separate occasions. Reliability and concurrent validity for COP parameters and VJP were examined using intraclass correlation coefficients (ICC), Bland-Altman plots (BAP), standard error of measurement (SEM) and minimum detectable change (MDC). $\bf Results$ COP path length test-retest reliability was predominantly good to excellent for all three devices (ICC = 0.80–0.95). SEM and MDC values were high for all plates (SEM% = 8.0–15.2; MDC% = 22.8–44.5), with the HBS MDC values higher than the KIS and BTG in three of the four trials. ICC scores for concurrent validity were good to excellent for the BTG (ICC = 0.76–0.93) and moderate to good for the HBS (0.49–0.83). Band-Altman plots revealed a systematic bias for the HBS towards higher COP path length values under all conditions and for the BTG in two out of four trials towards lower values. Validity of VJP was excellent for the BTG (ICC = 1.0) and poor for the HBS (0.34), with a systematic bias towards lower values. $\bf Conclusion$ The comparative analysis of PC and VJP revealed reliable and valid results for the BTG in comparison to a laboratory-grade force plate. The HBS showed reliable results for PC assessment with restrictions regarding its validity. Results of VJP showed that the HBS revealed deficits in the assessment of activities that require rapid, high force movements such as jumping and running. Due to the variable results of all three devices, it is recommended not to use them interchangeably

The CD11b promoter directs high-level expression of reporter genes in macrophages in transgenic mice.

CD11b is the alpha chain of the Mac-1 integrin and is preferentially expressed in myeloid cells (neutrophils, monocytes, and macrophages). We have previously shown that the CD11b promoter directs cell-type-specific expression in myeloid lines using transient transfection assays. To confirm that these promoter sequences contain the proper regulatory elements for correct myeloid expression of CD11b in vivo, we have used the -1.7-kb human CD11b promoter to direct reporter gene expression in transgenic mice. Stable founder lines were generated with two different reporter genes, a Thy 1.1 surface marker and the Escherichia coli lacZ (beta-galactosidase) gene. Analysis of founders generated with each reporter demonstrated that the CD11b promoter was capable of driving high levels of transgene expression in murine macrophages for the lifetime of the animals. Similar to the endogenous gene, transgene expression was preferentially found in mature monocytes, macrophages, and neutrophils and not in myeloid precursors. These experiments indicate that the -1.7 CD11b promoter contains the regulatory elements sufficient for high-level macrophage expression. This promoter should be useful for targeting heterologous gene expression to mature myeloid cells

The CD11b promoter directs high-level expression of reporter genes in macrophages in transgenic mice.

CD11b is the alpha chain of the Mac-1 integrin and is preferentially expressed in myeloid cells (neutrophils, monocytes, and macrophages). We have previously shown that the CD11b promoter directs cell-type-specific expression in myeloid lines using transient transfection assays. To confirm that these promoter sequences contain the proper regulatory elements for correct myeloid expression of CD11b in vivo, we have used the -1.7-kb human CD11b promoter to direct reporter gene expression in transgenic mice. Stable founder lines were generated with two different reporter genes, a Thy 1.1 surface marker and the Escherichia coli lacZ (beta-galactosidase) gene. Analysis of founders generated with each reporter demonstrated that the CD11b promoter was capable of driving high levels of transgene expression in murine macrophages for the lifetime of the animals. Similar to the endogenous gene, transgene expression was preferentially found in mature monocytes, macrophages, and neutrophils and not in myeloid precursors. These experiments indicate that the -1.7 CD11b promoter contains the regulatory elements sufficient for high-level macrophage expression. This promoter should be useful for targeting heterologous gene expression to mature myeloid cells